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FusionHub BASE combines data from an outside-in tracking system with inertial measurements via by an inertial measurement unit (IMU.
Setup
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). The BASE filter integrates the angular velocity measured by the IMU’s gyroscope and corrects it by the pose of the optical target that is determined with the optical tracking system.
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This references the
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Connect your IMU to the computer running FusionHub. Make sure your computer can connect to the IMU and read data by using LpmsControl 2. Make sure to disconnect from LpmsControl before running FusionHub.
calculated pose to the coordinate system of the optical tracking system and avoids drift while maintaining the high frequency and responsiveness of the gyroscope data. The diagram below shows an overview of a BASE filter system.
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The position output of the BASE filter is transferred directly from the optical measurements without modification. Pose prediction and interpolation of position measurements by accelerometer integration are under development.
Setup
Setup your optical tracking system. Attach the IMU to the optical target or attach both to the same rigid object eg. an HMD. Initialize the optical tracking body in your motion capture software and note the object ID.
Connect your IMU to the computer running FusionHub. Make sure your computer can connect to the IMU and read data by using LpmsControl 2. Make sure to disconnect from LpmsControl before running FusionHub.
Modify
config.jsonto contain the correct information for your IMU and optical tracking system. See below how to configure the various block of the configuration file. The configuration file can also be modified through the FusionHub GUI as shown further below.
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If all components are connected and the configuration file is correct, FusionHub should work right away after starting the application. The console output shows a log of the initialization of the various components. Note that you can always log the output from FusionHub to a file by adding
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FusionHub MOVE adds an additional platform IMU to the BASE configuration. It combines data from both IMUs to calculate poses relative to a moving platform.
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The MOVE filter part of FusionHub is still under development. Refer to LPVR-DUO for an implementation of the filter for specific virtual / augmented reality headsets.
FLOW Filter Configuration
FusionHub FLOW combines odometry, GPS and IMU data from a vehicle to calculate high-accuracy and low-latency global localization information. The FLOW filter has two operation modes with different configuration blocks in config.json and different output formats. The two modes are:
Low-dynamics filter (LD)
High-dynamics filter (HD)
The diagram below shows an overview of a simple FLOW filter setup.
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While GPS or RTK-GPS measurements alone provide similar positioning accuracy the output frequency of these systems is relatively low, making them unsuitable for applications where localization information at higher framerates is required, such as positioning objects in an augmented reality environment.
By additionally using odometry (wheel speeds, steering angle etc.) information, the localization data from the GPS measurements is interpolated to achieve framerates limited only by IMU and odometry sampling speeds.
The FLOW filter has two operation modes with different configuration blocks in config.json and different output formats. The two modes are:
Low-dynamics filter (LD)
High-dynamics filter (HD)
The diagram below shows an overview of a simple FLOW filter setup.
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Installation of Hardware Components
Inertial Measurement Unit (IMU)
LPMS-IG1P needs to be installled in the vehicle in a known orientation ideally with the coordinate axes of the the IMU parallel to the vehicle coordinate system. As a reference we are using the SAE coordinate system. Connect the USB connection of the sensor with the host computer. If needed an active or passive USB extension can be used. Make sure to check data integrity with the LpmsControl 2 data acquisition tool.
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Place the GPS antenna on top of the vehicle.
Low-dynamics Filter (Odometry + GPS + (some) IMU)
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